Remote Vehicle Autonomous Behaviors for Easier Tele-Operation
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Solution Overview
Problem
Conventional remote vehicle tele-operation is complex due to electro-mechanical complexity, requiring extensive training and manual dexterity, making it difficult for human operators to accurately navigate and control vehicles effectively.
Innovation Solution
A method and device that implement autonomous behaviors in remote vehicles, allowing operators to switch between tele-operation and autonomous control using an operator control unit (OCU) with a hand-held controller and head-mounted display, enabling the vehicle to perform tasks like click-to-grip, retro traverse, and obstacle avoidance without continuous human intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional tele-operation control is used, then the vehicle can be controlled manually, but the electro-mechanical complexity makes control difficult requiring extensive training and manual dexterity
Solution Approach 1:
The vehicle performs autonomous behaviors such as obstacle avoidance, navigation to waypoints, and self-positioning without continuous human intervention. The autonomous behavior manager enables the vehicle to service itself by making independent decisions about movement and obstacle response, reducing the operational burden on the human operator.
Solution Approach 2:
The system pre-programs multiple autonomous behaviors and behavior patterns that can be activated by simple operator commands. Instead of requiring operators to manually control every aspect of vehicle operation, the preliminary autonomous behaviors handle routine tasks like obstacle detection and avoidance, navigation, and positioning, allowing operators to initiate high-level tasks rather than micro-manage vehicle operations.
2Adaptability or versatility
If manual control with multiple joysticks and buttons is used, then specific tasks can be controlled, but extensive operator training and experience are required to develop sufficient manual dexterity
Solution Approach 1:
The autonomous behavior manager serves as a universal control system that handles multiple different tasks and behaviors through a single integrated platform. Instead of requiring separate controls for navigation, obstacle avoidance, positioning, and manipulation tasks, the system provides a unified autonomous behavior management architecture that can adapt to various operational requirements through software configuration rather than physical reconfiguration.
Solution Approach 2:
The system replaces complex mechanical control interfaces (multiple joysticks, buttons, and switches) with an autonomous software-based control system. The operator interface is simplified to trigger autonomous behaviors rather than directly manipulating vehicle controls, substituting mechanical manual dexterity requirements with software-driven autonomous decision-making capabilities.
3Measurement precision
If continuous human intervention is used for navigation and control, then accurate vehicle operation can be achieved, but the operational efficiency and speed are reduced
Solution Approach 1:
The autonomous behaviors enable continuous vehicle operation without interruption by human reaction time or manual control adjustments. The behavior manager continuously monitors sensor inputs and adjusts vehicle actions in real-time, maintaining continuous useful action for navigation, obstacle avoidance, and task execution without the breaks and delays inherent in manual tele-operation.
Solution Approach 2:
The system implements continuous feedback loops where sensors monitor the vehicle environment and state, the autonomous behavior manager processes this information, and control actions are automatically adjusted. This closed-loop feedback system maintains navigation accuracy and operational precision while eliminating the delays associated with human perception and reaction, thereby improving both accuracy and operational efficiency simultaneously.
Data Source
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AI summary
A system for allowing an operator to switch between remote vehicle tele-operation and one or more remote vehicle autonomous behaviors. The system comprises: an operator control unit receiving input from the operator including instructions for the remote vehicle to execute an autonomous behavior; a control system on the remote vehicle for receiving the instruction to execute an autonomous behavior from the operator control unit; and a GPS receiver, an inertial measurement unit, and a navigation CPU on the remote vehicle. Upon receiving the instruction to execute an autonomous behavior, the remote vehicle executes that autonomous behavior using input from the GPS receiver, the inertial measurement unit (IMU), and the navigation CPU.